Deformable sub-machine based on primary-secondary submarine cable inspection operation robot and control method

Abstract

The invention discloses a deformable sub-machine based on a primary-secondary submarine cable inspection operation robot and a control method, and relates to the technical field of underwater robots. The problems that a child-mother type autonomous underwater robot is insufficient in stability in the laying and recycling process, poor in attitude disturbance resistance in the navigation and operation stages and low in reliability of fixed operation under the complex seabed terrain are solved. The device comprises a plurality of propellers, a main frame and two extension buoyancy cabin sections, a plurality of linear guide rails are arranged on the lower surface of the main frame, two sliding blocks are arranged on the linear guide rails in a sliding mode, and the sliding blocks are connected with the extension buoyancy cabin sections and driven by a driving device to move; a plurality of propellers are arranged on the extension buoyancy cabin section; and a plurality of track foot imitating structures are arranged on the main frame. According to the deformable sub-machine, the working state is switched according to the environment data so as to change the configuration, the deformable sub-machine is switched among the laying and recycling configuration, the floating scanning configuration and the bottom-sitting operation configuration, and stable laying and recycling and efficient operation of the sub-machine are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to a deformable sub-machine of a sub-mother type submarine cable inspection operation robot and a control method. BACKGROUND

[0002] Ocean cables play a crucial role in the fields of ocean engineering, communication, energy, etc. They are commonly used for submarine communication, data transmission, submarine power supply, deep sea device connection, etc., especially in the industries of deep sea oil exploration and ocean energy development, ocean cables are one of the core infrastructures. China has a large range of territorial waters and abundant ocean resources, and the daily maintenance of deep sea cables has the characteristics of wide inspection range, long maintenance time, and complex inspection environment. The traditional inspection method not only depends on manual and remote control equipment, but also is limited by personnel experience, which may miss some small-scale hidden dangers. In addition, the conventional inspection method usually has high cost, and the influence of ocean environment (such as ocean current, seabed topography, etc.) has a great influence on the inspection effect. The traditional single configuration underwater robot is difficult to meet the multiple requirements of long distance navigation, complex terrain crossing and fine operation.

[0003] The sub-mother type underwater robot system realizes remote deployment and recovery by carrying the sub-machine on the mother machine, and is suitable for deep sea permanent inspection operation. The mother machine provides energy and communication support, and the sub-machine has smaller volume and higher mobility, which can effectively approach the work target to perform fine tasks, and significantly improve the operation efficiency and safety of deep sea operation. However, the current sub-mother type autonomous underwater robot has the problems of insufficient stability in the deployment and recovery process, poor attitude disturbance resistance in the navigation and operation stage, and low reliability of fixed operation in the complex seabed topography. SUMMARY

[0004] In order to solve the above-mentioned problems of the existing sub-mother type autonomous underwater robot, such as insufficient stability in the deployment and recovery process, poor attitude disturbance resistance in the navigation and operation stage, and low reliability of fixed operation in the complex seabed topography, a deformable sub-machine based on a sub-mother type submarine cable inspection operation robot and a control method are proposed. The deformable sub-machine of the present application switches the working state according to the environmental data and changes the configuration, switches between the deployment and recovery configuration, the floating scanning configuration and the bottom operation configuration, realizes the stable deployment and recovery of the sub-machine and the efficient operation.

[0005] The present application proposes a deformable sub-machine based on a sub-mother type submarine cable inspection operation robot, which specifically includes a plurality of propellers, a main frame and two extension buoyancy tank sections, the extension buoyancy tank sections are arranged on both sides of the main frame, the lower surface of the main frame is provided with a plurality of linear guides, the linear guides are provided with two sliders which are slidingly arranged on the linear guides, the sliders are connected with the extension buoyancy tank sections, and the internal driving device of the main frame drives the sliders to move; the extension buoyancy tank sections are provided with a plurality of propellers; and the main frame is provided with a plurality of track-like foot structures.

[0006] Further, the middle and end of the linear guide rail are provided with a limiting structure.

[0007] Further, the limiting structure is provided with an electromagnetic locking device, which adsorbs and locks the sliding block.

[0008] Further, a flexible material splicing layer is arranged between the main frame and the extended buoyancy cabin section.

[0009] Further, the thruster comprises four vertical thrusters and four lateral thrusters, the vertical thrusters are arranged on the upper surface of the extended buoyancy cabin section, and the lateral thrusters are arranged at opposite corners of the extended buoyancy cabin section.

[0010] Further, the lateral thruster is rotatably arranged on the extended buoyancy cabin section, and the angle change range is 0° to 15°.

[0011] Further, the track-like foot structure comprises a tensioning wheel, two supporting wheels, a connecting rod and a track, the supporting wheels are installed on the main frame; one end of the connecting rod is connected with the tensioning wheel, the other end is connected with the main frame, and the internal driving device of the main frame drives the tensioning wheel to expand through the connecting rod; the track is installed on the tensioning wheel and the supporting wheel.

[0012] Further, the end of the connecting rod is provided with a claw, and the claw is coaxially connected with the tensioning wheel.

[0013] Further, two mechanical arm modules are arranged on the main frame.

[0014] A control method of a deformable sub-machine of the sub-and-parent type submarine cable inspection operation robot, comprising the following steps: The sub-machine actively identifies the seabed topography and the surrounding hydrodynamic conditions through the mounted environment perception system, the environment perception system comprises a sonar system, a vision system and an acoustic Doppler current profiler, the environment perception system comprises a sonar system, a vision system and an acoustic Doppler current profiler, and the working state is switched according to the environment data; the control system adopts a deep learning model combining convolutional neural network and recursive structure, drives the extended buoyancy cabin section and the track-like foot structure to expand or retract according to the current working state, so as to realize configuration switching; a configuration identification signal is generated according to the current configuration and thruster mode; according to the current configuration identification signal, the attitude control strategy and the power distribution mode are dispatched to control the thruster, so as to realize closed-loop control based on configuration identification.

[0015] The deformable sub-machine of the sub-and-parent type submarine cable inspection operation robot and the control method have the following beneficial effects: (1) The deformable sub-machine and control method of the sub-mother type submarine cable inspection operation robot, by setting the stretchable buoyancy cabin section integrated with the propeller, the configuration of the sub-machine is self-adaptive in different operation stages, the streamlined structure is provided in the folded state of the buoyancy cabin section, which is beneficial for long-distance low-resistance navigation, and the anti-disturbance performance and attitude stability are enhanced in the unfolded state, and the complex seabed environment is adapted.

[0016] (2) The deformable sub-machine and control method of the sub-mother type submarine cable inspection operation robot, by the side propeller arranged at a variable angle, the side propeller angle is changed while the ocean current disturbance is detected, so that the sub-machine maintains the best propulsion efficiency in the complex ocean current environment, and the endurance is improved.

[0017] (3) The deformable sub-machine and control method of the sub-mother type submarine cable inspection operation robot, by the design of the deformable track-like foot structure, the sub-machine maintains a compact and stable configuration in the laying, recovery and floating stages, and a stable fulcrum structure is formed between the track-like foot structure and the seabed in the bottom-sitting operation stage, so that the operation reliability under the cross-flow or undulating terrain condition is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] The drawings constituting a part of this application are used to provide a further understanding of the present application, the schematic embodiments of the present application and the description thereof are used to explain the present application, and do not constitute an improper limitation on the present application.

[0019] In the drawings: Figure 1 is a structural schematic view of the deformable sub-machine of the sub-mother type submarine cable inspection operation robot; Figure 2 is a structural schematic view of the floating scanning configuration of the deformable sub-machine of the sub-mother type submarine cable inspection operation robot; Figure 3 is a structural schematic view of the bottom-sitting operation configuration of the deformable sub-machine of the sub-mother type submarine cable inspection operation robot; Figure 4 is a schematic view of the sliding structure of the main frame bottom of the deformable sub-machine of the sub-mother type submarine cable inspection operation robot; Figure 5 is a structural schematic view of the limiting structure and electromagnetic locking device of the deformable sub-machine of the sub-mother type submarine cable inspection operation robot; Figure 6 is a structural schematic view of the electromagnetic locking device of the deformable sub-machine of the sub-mother type submarine cable inspection operation robot; Figure 7It is a right view of the electromagnetic locking device of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application; Figure 8 It is a front view of the electromagnetic locking device of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application; Figure 9 It is a top view of the electromagnetic locking device of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application; Figure 10 It is a structural schematic diagram of the track-like foot structure of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application in a folded state; Figure 11 It is a structural schematic diagram of the track-like foot structure of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application in an unfolded state; Figure 12 It is a structural schematic diagram of the lateral propeller of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application at 0 degree; Figure 13 It is a structural schematic diagram of the lateral propeller of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application at 15 degrees; Figure 14 It is a comparison diagram of the propelling efficiency of the rotatable propeller and the non-rotatable propeller of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot under different ocean current disturbances according to the application; Figure 15 It is a water dynamic simulation result schematic diagram of the stretch buoyancy cabin section of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application in a folded state; Figure 16 It is a water dynamic simulation result schematic diagram of the stretch buoyancy cabin section of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application in an unfolded state; Figure 17 It is a configuration identification control flow schematic diagram of the transformable sub-machine of the sub-mother type submarine cable inspection operation robot according to the application; Wherein: 1-Vertical propeller, 2-Lateral propeller, 3-Mechanical arm module, 4-Master frame, 5-Stretch buoyancy cabin section, 6-Flexible material splicing layer, 7-Track-like foot structure, 71-Tensioning wheel, 72-Connecting rod, 73-Track, 74-Claw, 8-Straight line guide rail, 9-Slider, 10-Limiting structure, 11-Electromagnetic locking device. DETAILED DESCRIPTION

[0020] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0021] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0023] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0024] Specific implementation method one: see Figures 1-17 Specific description of the present embodiment. The deformable sub-machine of the sub-mother type submarine cable inspection operation robot described in the present embodiment specifically comprises a plurality of propellers, a main frame 4 and two extended buoyancy cabin sections 5, the main frame 4 is provided with two mechanical arm modules 3; the extended buoyancy cabin section 5 is arranged on both sides of the main frame 4; the lower surface of the main frame 4 is provided with a plurality of linear guides 8, the linear guides 8 are slidably provided with two sliding blocks 9, the sliding blocks 9 are connected with the extended buoyancy cabin sections 5; the middle and the end of the linear guide 8 are provided with limiting structures 10, the sliding blocks 9 move between the corresponding two limiting structures 10, and the sliding blocks 9 are limited, such as Figure 4The extension buoyancy cabin section 5 is unfolded or folded by the driving device inside the main frame 4 through the movement of the driving slider 9; meanwhile, the limiting structure 10 is provided with an electromagnetic locking device 11, and when the slider 9 and the limiting structure 10 are in contact, the slider 9 is adsorbed and locked through the electromagnetic locking device 11; eight propellers are arranged on the two extension buoyancy cabin sections 5, including four vertical propellers 1 and four lateral propellers 2, the vertical propeller 1 is arranged on the upper surface of the extension buoyancy cabin section 5, and the lateral propeller 2 is arranged at the diagonal position of the two extension buoyancy cabin sections 5, as shown in Figure 1 The lateral propeller 2 and the extension buoyancy cabin section 5 are rotationally connected, in order to adapt to the attitude control requirement in the configuration change process, the lateral propeller 2 is connected with the extension buoyancy cabin section 5 through a vertically arranged rotating shaft, a limiter component is arranged in the lateral propeller 2, an embedded spiral groove limiting mechanism can be used, so that the lateral propeller 2 can realize small-angle deflection in the horizontal plane, and has a mechanical self-locking function after the angle reaches a specified value, so as to ensure the attitude stability of the propeller in the operation process; the rotation angle of the lateral propeller 2 changes in the range of 0° to 15°; The propeller can be transferred to the peripheral position away from the main frame 4 together with the unfolding of the extension buoyancy cabin section 5, so as to increase the propulsion arm and improve the attitude adjustment sensitivity, the propeller is adaptively adjusted in a small range of angle in the horizontal plane, the propeller angle changes to the form with the highest propulsion efficiency when the configuration and the side flow change, so as to match the thrust direction and the attitude control strategy under different configurations, and improve the motion coordination and stability of the whole machine. Further, the rotatable lateral propeller arranged at the four diagonal positions of the body has the auxiliary main propulsion function, so that the main thrust structure is not needed. By controlling the rotation angle and rotation speed of the four lateral propellers, a combined propulsion force vector can be generated in the horizontal plane, so as to realize the forward or backward propulsion of the sub-machine, so as to complete the speed control and attitude adjustment in the floating state without the main thrust structure. The design significantly improves the functional redundancy and configuration flexibility of the propulsion system, and is especially suitable for fine operation and autonomous motion control tasks in complex sea current environment.

[0025] The deformable sub-machine can form three configurations according to the unfolding of the structure: The deployment and recovery configuration: the extension buoyancy cabin section 5 and the track-like foot structure 7 are in the folded state, at this time, the whole robot forms a streamlined layout, the mass is close to the axis, and is suitable for low-resistance sailing and mother machine deployment and recovery; The floating scanning configuration: the extended buoyancy cabin section 5 is unfolded, which significantly increases the lateral size and buoyancy distribution range of the sub-machine, changes the shape configuration and hydrodynamic characteristics, improves the lateral attitude stability and flow field interference adaptability, and the track-like foot structure 7 is in the folded state. At this time, the propeller adjusts the extended buoyancy cabin section 5 to a spatially stable distribution form through linkage, the robot has six degrees of freedom control ability, and is suitable for underwater scanning and parameter measurement tasks; under this configuration, the propeller is spatially symmetrically distributed, forming a stable thrust coupling, which is used to improve the attitude control ability and anti-disturbance performance of the sub-machine in a complex hydrodynamic environment. The bottom sitting operation configuration: the extended buoyancy cabin section 5 and the track-like foot structure 7 are both in the unfolded state, the extended buoyancy cabin section 5 significantly increases the lateral size and buoyancy distribution range of the sub-machine, thereby changing the shape configuration and hydrodynamic characteristics, improving the lateral attitude stability and flow field interference adaptability, at this time the propeller assists in attitude stabilization, the robot has high anti-interference ability and precise platform support for improving the bottom stability and cross-flow disturbance resistance; under this configuration, the propeller cooperates with the position distribution of the unfolded track-like foot structure 7, which can form a local horizontal stable thrust field, which is used to prevent cross-flow impact and attitude drift and maintain precise positioning of the operation point.

[0026] A flexible material splicing layer 6 is arranged between the main frame 4 and the extended buoyancy cabin section 5. The flexible material splicing layer 6 solves the gap and turbulence influence caused by unfolding the extended buoyancy cabin section 5, and guarantees the continuity of hydrodynamics. The flexible material splicing layer 6 is an elastic polymer or a controllable flexible composite material, which self-adapts to cover the gap area between the extended buoyancy cabin section 5 and the main frame 4 after unfolding, reduces the turbulent additional resistance through structure fitting and hydrodynamic transition design, realizes the continuity of configuration boundary and fluid stability.

[0027] The main frame 4 is provided with several track-like foot structures 7, which do not have driving capabilities and only serve as support structures for the deformable submachine. Each track-like foot structure 7 includes a tension wheel 71, two support wheels, a connecting rod 72, and a track 73. The support wheels are mounted on the main frame 4, and the two support wheels are provided with cover plates. One end of the connecting rod 72 is connected to the tension wheel 71, and the other end is mounted on the cover plate and connected to the driving device inside the main frame 4. The track 73 is mounted on the tension wheel 71 and the support wheels, but the track 73 does not rotate. The connecting rod 72 is provided with a foot 74 at its end. The foot 74 and the tension wheel 71 are coaxially connected. The internal drive device of the main frame 4 drives the tension wheel 71 to swing, unfold and press down through the connecting rod 72. After pressing down, the attitude remains unchanged through the limiting and self-locking structure. During the swing and unfolding process, the tension wheel 71 rotates due to friction with the track 73, causing the foot 74 to change from a retracted state to an unfolded state. The hinge part at the end of the connecting rod 72 integrates the limiting and self-locking mechanism, which can realize the stable angle of the foot 74 and provide reverse anti-disturbance torque support, improve the anti-lateral disturbance capability, and enable the track 73 to form support and make effective contact with the seabed through the foot 74. The track-like foot structure 7 uses flexible track material as the contact surface with the seabed, increasing the contact area with the seabed to provide stable ground support; the foot claws 74 contact the seabed, providing fit and support, enhancing grip, and do not play a driving role, improving the stability of the submachine in cross-current environments and adaptability to complex undulating terrain, operational stability in soft or uneven seabed environments, and preventing structural damage or attitude instability caused by direct contact between the bottom shell of the main frame 4 and the seabed.

[0028] Table 1. Efficiency Comparison of Fixed and Rotary Thrusters

[0029] Figure 14 Table 1 shows a comparison of the propulsion efficiency of rotatable and non-rotatable propulsion systems under different ocean current disturbances. By combining the substructure configuration changes with ocean current variations, the lateral propulsion system can determine the optimal deflection angle with the help of sensor feedback, thereby maximizing propulsion efficiency and reducing energy consumption.

[0030] Figure 15 This is a schematic diagram of the hydrodynamic simulation results for the extended buoyancy section 5 in its retracted state. At this point, the minimum relative pressure on the deformable submachine gun is -367.86 Pa, the maximum relative pressure is 319.78 Pa, the average relative pressure is 112.59 Pa, and the relative pressure surface area is 1.0702 m². 2 ; Figure 16 This is a schematic diagram of the hydrodynamic simulation results for the extended buoyancy section 5 in its deployed state. At this state, the minimum relative pressure on the surface of the deformable submachine gun is -207.96 Pa, the maximum relative pressure is 293.22 Pa, the average relative pressure is 107.40 Pa, and the relative pressure surface area is 1.0644 m².2 Simulation results show that when the extended buoyancy section 5 is deployed, the submachine shape becomes more isotropic, the overall stress is more uniform, the lateral local high-pressure area is significantly reduced, and the crossflow stability and hovering control performance are effectively improved.

[0031] A control method for the deformable daughter unit of the aforementioned mother-daughter submarine cable inspection robot, such as... Figure 17 As shown, the specific steps include: The sub-robot acquires preliminary information about the work area in collaboration with the mother robot, and actively identifies the seabed topography and surrounding hydrodynamic conditions using the environmental perception system onboard the robot. The environmental perception system includes a sonar system, a vision system, and an acoustic Doppler current profiler, and switches its working state based on environmental data. The control system adopts a deep learning model that integrates convolutional neural networks and recursive structures, and drives the extension of the buoyancy section 5 and the track-like foot structure 7 to deploy or retract according to the current working state, thereby achieving configuration switching. Based on the current configuration and thruster mode, a configuration recognition signal is generated. Based on the current configuration recognition signal, the attitude control strategy and power allocation mode are scheduled to regulate the thrusters, realizing data-driven configuration switching scheduling based on environmental perception and redundant optimization allocation of the thrusters. This achieves closed-loop control based on configuration recognition, improving the robot's stability and autonomy during the task.

[0032] The thrusters have redundant configuration capabilities, allowing for the switching of different numbers or positions of thrusters to participate in control in the bottom-landing operation configuration. Combined with attitude sensors and a Doppler acoustic current profiler, the system can adaptively schedule some thrusters to enter energy-saving or attitude compensation modes. In the bottom-landing operation configuration, only a small number of thrusters are used for attitude compensation, while in the floating scanning and deployment / recovery configurations, all thrusters are used for attitude and position control to improve energy efficiency and control accuracy under multi-task operations.

[0033] The specific working process of the deformable submachine of the mother-daughter submarine cable inspection robot described in this invention is as follows: In the deployment or recovery state, the stretch buoyancy cabin section 5 is in an undeployed state, the centroid of the sub-machine is close to the geometric center, forming a compact streamlined shape, with excellent hydrodynamic characteristics, while significantly reducing the volume, facilitating the release and recovery of the mother machine, reducing the propulsion resistance and prolonging the operation endurance. When the sub-machine reaches the predetermined operation area, it enters the hovering mode. To improve the lateral stability during the floating stage, the stretch buoyancy cabin section 5 is deployed synchronously in the lateral direction, becoming a floating scanning configuration, significantly increasing the overall lateral dimension and the length of the distributed buoyancy arm, and the lateral thruster 2 is transferred to the peripheral position away from the main machine body synchronously with the deployment of the stretch buoyancy cabin section 5, increasing the propulsion arm and effectively improving the disturbance resistance performance. After completing the environmental detection, the sub-machine enters the state of the bottom sitting operation configuration. Through the active downward pressing action of the tensioning wheel in the track-like foot structure, a stable multi-point support structure is formed, and several thrusters assist in attitude stability.

[0034] In summary of the above implementation cases, the deformable sub-machine and control method of the sub-mother type submarine cable inspection operation robot disclosed by the present application realizes configuration adaptation of the sub-machine in different operation stages through the stretch buoyancy cabin section 5 integrated with the thruster, which has a streamlined structure in the folded state, is beneficial for long-distance low-resistance navigation, and has enhanced disturbance resistance performance and attitude stability in the deployed state, adapting to complex seabed environments. The deformable sub-machine and control method of the sub-mother type submarine cable inspection operation robot disclosed by the present application can detect the current disturbance while changing the angle of the lateral thruster 2, so as to maintain the best propulsion efficiency of the sub-machine in complex current environment, thereby improving the endurance capability. The deformable sub-machine and control method of the sub-mother type submarine cable inspection operation robot disclosed by the present application realizes compact and stable configuration of the sub-machine in the deployment, recovery and floating stages through the design of the deformable track-like foot structure 7, and forms a stable support point structure with the seabed in the bottom sitting operation stage, effectively improving the operation reliability in cross-flow or undulating terrain conditions.

[0035] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above description is only a specific embodiment of the present application and is not intended to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A transformable sub-robot based on a sub-mother type submarine cable inspection operation robot, characterized in that: The application relates to a submersible robot, which comprises a plurality of propellers, a main frame (4) and two extended buoyancy cabin sections (5) arranged on both sides of the main frame (4), a plurality of linear guide rails (8) arranged on the lower surface of the main frame (4), two sliders (9) slidingly arranged on the linear guide rails (8), a connection between the sliders (9) and the extended buoyancy cabin sections (5), and a driving device arranged in the main frame (4) for driving the sliders (9) to move; the extended buoyancy cabin sections (5) are provided with the plurality of propellers; and the main frame (4) is provided with a plurality of track-like foot structures (7).

2. The transformable sub-robot based on the sub-mother sea cable inspection operation robot according to claim 1, characterized in that: Limiting structures (10) are arranged at the middle and the ends of the linear guide rails (8).

3. The transformable sub-robot of the sub-mother cable inspection operation robot according to claim 2, characterized in that: An electromagnetic locking device (11) is arranged on the limiting structure (10) and used for adsorbing and locking the sliders (9).

4. The transformable sub-robot based on the sub-mother sea cable inspection operation robot according to claim 1, characterized in that: A flexible material splicing layer (6) is arranged between the main frame (4) and the extended buoyancy cabin sections (5).

5. The transformable sub-robot based on the sub-mother sea cable inspection operation robot according to claim 1, characterized in that: The propellers comprise four vertical propellers (1) and four lateral propellers (2), the vertical propellers (1) are arranged on the upper surfaces of the extended buoyancy cabin sections (5), and the lateral propellers (2) are arranged at opposite corners of the extended buoyancy cabin sections (5); the four lateral propellers (2) can generate a combined propulsion force vector in a horizontal plane, so that the forward or backward propulsion of the submersible robot is realized.

6. The transformable sub-robot of the sub-mother cable inspection operation robot according to claim 5, characterized in that: The lateral propellers (2) are rotationally arranged on the extended buoyancy cabin sections (5) and can change the angle by 0-15 degrees.

7. The transformable sub-robot of the sub-mother cable inspection operation robot according to claim 1, characterized in that: The track-like foot structure (7) comprises a tensioning wheel (71), two supporting wheels, a connecting rod (72) and a track (73), the supporting wheels are arranged on the main frame (4), one end of the connecting rod (72) is connected with the tensioning wheel (71), the other end of the connecting rod (72) is connected with the main frame (4), a driving device arranged in the main frame (4) drives the tensioning wheel (71) to expand through the connecting rod (72), and the track (73) is arranged on the tensioning wheel (71) and the supporting wheels.

8. The transformable sub-robot of the sub-mother cable inspection operation robot according to claim 7, characterized in that: A foot claw (74) is arranged at the end of the connecting rod (72) and coaxially connected with the tensioning wheel (71).

9. The transformable sub-robot based on the sub-mother sea cable inspection operation robot according to claim 1, characterized in that: Two mechanical arm modules (3) are arranged on the main frame (4).

10. A control method for the deformable sub-machine of the sub-mother cable inspection operating robot according to any one of claims 1-9, characterized in that: The application further discloses a control method of the submersible robot. The submersible robot actively identifies the seabed topography and the surrounding hydrodynamic conditions through an environment perception system, the environment perception system comprises a sonar system, a vision system and an acoustic Doppler current profiler, and the working state is switched according to the environment data; a deep learning model combining a convolutional neural network and a recursive structure is adopted in the control system, the extended buoyancy cabin sections (5) and the track-like foot structures (7) are expanded or retracted according to the current working state, so that the configuration switching is realized; a configuration identification signal is generated according to the current configuration and the propeller mode; the attitude control strategy and the power distribution mode are dispatched according to the current configuration identification signal, the propellers are controlled, and the closed-loop control based on the configuration identification is realized.

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